EP4070283C0 - Registrierung eines bildes mit einem verfolgungssystem - Google Patents

Registrierung eines bildes mit einem verfolgungssystem

Info

Publication number
EP4070283C0
EP4070283C0 EP20835867.1A EP20835867A EP4070283C0 EP 4070283 C0 EP4070283 C0 EP 4070283C0 EP 20835867 A EP20835867 A EP 20835867A EP 4070283 C0 EP4070283 C0 EP 4070283C0
Authority
EP
European Patent Office
Prior art keywords
registration
image
tracking system
tracking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20835867.1A
Other languages
English (en)
French (fr)
Other versions
EP4070283A1 (de
EP4070283B1 (de
Inventor
Assaf Govari
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Biosense Webster Israel Ltd
Original Assignee
Biosense Webster Israel Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Biosense Webster Israel Ltd filed Critical Biosense Webster Israel Ltd
Publication of EP4070283A1 publication Critical patent/EP4070283A1/de
Application granted granted Critical
Publication of EP4070283B1 publication Critical patent/EP4070283B1/de
Publication of EP4070283C0 publication Critical patent/EP4070283C0/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G06F3/04817—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance using icons
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G06F3/0482—Interaction with lists of selectable items, e.g. menus
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—Two-dimensional [2D] image generation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/14—Transformations for image registration, e.g. adjusting or mapping for alignment of images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/32—Determination of transform parameters for the alignment of images, i.e. image registration using correlation-based methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2072—Reference field transducer attached to an instrument or patient
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/41—Medical

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
  • Studio Devices (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Communication System (AREA)
EP20835867.1A 2019-12-05 2020-11-17 Registrierung eines bildes mit einem verfolgungssystem Active EP4070283B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US16/704,042 US11527002B2 (en) 2019-12-05 2019-12-05 Registration of an image with a tracking system
PCT/IB2020/060804 WO2021111223A1 (en) 2019-12-05 2020-11-17 Registration of an image with a tracking system

Publications (3)

Publication Number Publication Date
EP4070283A1 EP4070283A1 (de) 2022-10-12
EP4070283B1 EP4070283B1 (de) 2025-11-12
EP4070283C0 true EP4070283C0 (de) 2025-11-12

Family

ID=74125563

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20835867.1A Active EP4070283B1 (de) 2019-12-05 2020-11-17 Registrierung eines bildes mit einem verfolgungssystem

Country Status (6)

Country Link
US (2) US11527002B2 (de)
EP (1) EP4070283B1 (de)
JP (1) JP7577745B2 (de)
CN (1) CN114746901B (de)
IL (1) IL293233B2 (de)
WO (1) WO2021111223A1 (de)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2536650A (en) 2015-03-24 2016-09-28 Augmedics Ltd Method and system for combining video-based and optic-based augmented reality in a near eye display
US12458411B2 (en) 2017-12-07 2025-11-04 Augmedics Ltd. Spinous process clamp
US12521201B2 (en) 2017-12-07 2026-01-13 Augmedics Ltd. Spinous process clamp
EP3787543A4 (de) 2018-05-02 2022-01-19 Augmedics Ltd. Registrierung einer bezugsmarke für ein system der erweiterten realität
US11766296B2 (en) 2018-11-26 2023-09-26 Augmedics Ltd. Tracking system for image-guided surgery
US11980506B2 (en) 2019-07-29 2024-05-14 Augmedics Ltd. Fiducial marker
US12178666B2 (en) 2019-07-29 2024-12-31 Augmedics Ltd. Fiducial marker
US11382712B2 (en) 2019-12-22 2022-07-12 Augmedics Ltd. Mirroring in image guided surgery
US11087557B1 (en) * 2020-06-03 2021-08-10 Tovy Kamine Methods and systems for remote augmented reality communication for guided surgery
US11389252B2 (en) 2020-06-15 2022-07-19 Augmedics Ltd. Rotating marker for image guided surgery
US12502163B2 (en) 2020-09-09 2025-12-23 Augmedics Ltd. Universal tool adapter for image-guided surgery
US12239385B2 (en) 2020-09-09 2025-03-04 Augmedics Ltd. Universal tool adapter
EP4059435A1 (de) * 2021-03-15 2022-09-21 Koninklijke Philips N.V. Patientenpräparat zur medizinischen bildgebung
US12150821B2 (en) 2021-07-29 2024-11-26 Augmedics Ltd. Rotating marker and adapter for image-guided surgery
US12475662B2 (en) 2021-08-18 2025-11-18 Augmedics Ltd. Stereoscopic display and digital loupe for augmented-reality near-eye display
WO2023203521A1 (en) 2022-04-21 2023-10-26 Augmedics Ltd. Systems and methods for medical image visualization
JP2025531829A (ja) 2022-09-13 2025-09-25 オーグメディックス リミテッド 画像誘導医療介入のための拡張現実アイウェア
WO2024231743A1 (en) * 2023-05-05 2024-11-14 Acclarent, Inc. Method of registering a patient with medical instrument navigation system
US20240366334A1 (en) * 2023-05-05 2024-11-07 Acclarent, Inc. Method of registering a patient with medical instrument navigation system
US20250090239A1 (en) * 2023-09-20 2025-03-20 Acclarent, Inc. Method of registering a patient with medical instrument navigation system

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040015176A1 (en) 1994-06-20 2004-01-22 Cosman Eric R. Stereotactic localizer system with dental impression
US6470207B1 (en) 1999-03-23 2002-10-22 Surgical Navigation Technologies, Inc. Navigational guidance via computer-assisted fluoroscopic imaging
ES2231185T3 (es) 1999-04-22 2005-05-16 Medtronic Surgical Navigation Technologies Aparatos y metodos para cirugia guiada por imagenes.
US8644907B2 (en) 1999-10-28 2014-02-04 Medtronic Navigaton, Inc. Method and apparatus for surgical navigation
US7697972B2 (en) 2002-11-19 2010-04-13 Medtronic Navigation, Inc. Navigation system for cardiac therapies
US7855723B2 (en) 2006-03-21 2010-12-21 Biosense Webster, Inc. Image registration using locally-weighted fitting
US20090105579A1 (en) * 2007-10-19 2009-04-23 Garibaldi Jeffrey M Method and apparatus for remotely controlled navigation using diagnostically enhanced intra-operative three-dimensional image data
US8900131B2 (en) * 2011-05-13 2014-12-02 Intuitive Surgical Operations, Inc. Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery
US20160166354A1 (en) 2013-08-13 2016-06-16 Brainlab Ag Malleolar Referencing Device
CA2972754A1 (en) 2014-01-17 2015-07-23 Clark B. Foster Injection site training system
US10674933B2 (en) * 2014-10-22 2020-06-09 Biosense Webster (Israel) Ltd. Enlargement of tracking volume by movement of imaging bed
US10548564B2 (en) * 2015-02-26 2020-02-04 Rivanna Medical, LLC System and method for ultrasound imaging of regions containing bone structure
US11986252B2 (en) 2017-08-10 2024-05-21 Biosense Webster (Israel) Ltd. ENT image registration
US10758322B2 (en) * 2017-03-20 2020-09-01 Align Technology, Inc. Virtually representing an orthodontic treatment outcome using automated detection of facial and dental reference objects
US10452263B2 (en) 2017-09-13 2019-10-22 Biosense Webster (Israel) Ltd. Patient face as touchpad user interface
US10660707B2 (en) * 2017-12-19 2020-05-26 Biosense Webster (Israel) Ltd. ENT bone distance color coded face maps

Also Published As

Publication number Publication date
JP7577745B2 (ja) 2024-11-05
WO2021111223A1 (en) 2021-06-10
IL293233B1 (en) 2025-06-01
EP4070283A1 (de) 2022-10-12
US11527002B2 (en) 2022-12-13
US20210174522A1 (en) 2021-06-10
EP4070283B1 (de) 2025-11-12
US11790543B2 (en) 2023-10-17
JP2023504703A (ja) 2023-02-06
CN114746901A (zh) 2022-07-12
IL293233B2 (en) 2025-10-01
CN114746901B (zh) 2026-04-03
IL293233A (en) 2022-07-01
US20230102908A1 (en) 2023-03-30

Similar Documents

Publication Publication Date Title
EP4070283C0 (de) Registrierung eines bildes mit einem verfolgungssystem
EP3120766C0 (de) Oberflächenregistrierung eines ct-bildes mit einem magnetischen verfolgungssystem
IL288125A (en) Image-based localization
EP3611733C0 (de) Suchen eines medizinischen referenzbildes
EP3610458A4 (de) System zur vorhersage von bewegungen eines bestimmten objekts mit einem autocodierer
EP3803273A4 (de) Techniken zur echtzeitabbildung in einer umgebung eines beweglichen objekts
DK3799431T3 (da) Preprocessing image data
EP3777373C0 (de) Navigations- und positionierungssystem mit verwendung eines funkstrahls
EP3657391C0 (de) Verarbeitung eines medizinischen bildes
EP3580695A4 (de) System zur identifizierung eines definierten objekts
EP3673430A4 (de) Implementierung eines blockchain-basierten arbeitsablaufs
EP3673432A4 (de) Implementierung eines blockchain-basierten arbeitsablaufs
EP3772036A4 (de) Erkennung eines beinahe-duplikatbildes
IL284682A (en) Synthetic lenses for ultrasound imaging systems
EP3264365C0 (de) Verfahren zur registrierung eines ersten bilddatensatzes und eines zweiten bilddatensatzes eines zielbereichs eines patienten
EP3732085A4 (de) Vorhersage eines spurwechsels eines fahrzeugs
IL254681B (en) Registration of a magnetic tracking system with an imaging device
EP3943746C0 (de) Automatisiertes system zur verfolgung eines fliegenden objekts
EP3811609C0 (de) Bildsensor mit einer vielzahl von superpixeln
EP3405807A4 (de) Digitale kompensation von fehlanpassungen in einem radarsystem
EP3803450A4 (de) Positionsbestimmung eines radarkopfes
EP3920828A4 (de) Verfahren zur überprüfung der positionsgenauigkeit eines verfolgungsarrays
EP3796843C0 (de) System zur verbesserung eines nuklear-medizinischen bildes eines sich bewegenden volumens
EP3616167A4 (de) Lokalisierung eines bereichs von interesse auf einem objekt
EP3833821C0 (de) Objektdetektion ausserhalb eines fahrzeugs

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220704

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20250226

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

INTG Intention to grant announced

Effective date: 20250909

RAP3 Party data changed (applicant data changed or rights of an application transferred)

Owner name: BIOSENSE WEBSTER (ISRAEL) LTD.

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: CH

Ref legal event code: F10

Free format text: ST27 STATUS EVENT CODE: U-0-0-F10-F00 (AS PROVIDED BY THE NATIONAL OFFICE)

Effective date: 20251112

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602020062204

Country of ref document: DE

U01 Request for unitary effect filed

Effective date: 20251202

U07 Unitary effect registered

Designated state(s): AT BE BG DE DK EE FI FR IT LT LU LV MT NL PT RO SE SI

Effective date: 20251212

U20 Renewal fee for the european patent with unitary effect paid

Year of fee payment: 6

Effective date: 20251217

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20260106

Year of fee payment: 6

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251112

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20260212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251112

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20260212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20260312

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251112